Rigidity-adjustable force measuring branch and corresponding parallel multi-dimensional force sensor

An adjustable and rigid technology, applied in the field of force sensors, can solve the problem of uneven force on the force measurement branch, and achieve the effect of ensuring measurement accuracy, improving measurement accuracy, and uniform force

Active Publication Date: 2022-03-08
HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] In order to solve the above deficiencies in the prior art, the present invention aims to provide a force-measuring branch with adjustable stiffness and a corresponding parallel multi-dimensional force sensor to solve the problem of uneven force on each force-measuring branch caused by the difference in stiffness of the measuring branch. In order to achieve the purpose of transformable adjustment of the stiffness of the force-measuring branch and the uniform force of the force-measuring branch

Method used

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  • Rigidity-adjustable force measuring branch and corresponding parallel multi-dimensional force sensor
  • Rigidity-adjustable force measuring branch and corresponding parallel multi-dimensional force sensor
  • Rigidity-adjustable force measuring branch and corresponding parallel multi-dimensional force sensor

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Embodiment 1

[0042] Example 1 A force-measuring branch with adjustable stiffness

[0043] This embodiment is an invention for improving the force-measuring branch of the existing multi-dimensional force sensor 6, and its main improvement is to improve the force-measuring branch into a control method with adjustable stiffness. That is, the received force is decoupled into three orthogonal forces through the decoupling mechanism 4, the force distribution relationship of the force measuring branch is adjusted through the stiffness adjustment mechanism 5, and the length compensation mechanism 7 is used to compensate for the length change in the stiffness adjustment mechanism 5. Displacement, so that the overall length of the force-measuring branch remains unchanged, and finally achieve the purpose of transformable and adjustable stiffness of the force-measuring branch. Such as Figure 1 to Figure 8 As shown, this embodiment includes a decoupling mechanism 4 , a stiffness adjustment mechanism ...

Embodiment 2

[0058] Embodiment 2 A parallel multi-dimensional force sensor with adjustable stiffness

[0059] Such as Figure 9 As shown, this embodiment includes a force-bearing platform 1, a fixed platform 3, and at least one group of the force-measuring branches 2 with adjustable stiffness in Embodiment 1 arranged in parallel. The fixed platform 3 can be used to be connected with the main body of the robot. The force-bearing platform 1 can be used for installing props, grasping and other robots that need to measure the force-bearing parts. The top end of the upper connector 8 of the decoupling mechanism 4 is fixed on the force platform 1 , and the bottom end of the base 24 of the length compensation mechanism 7 is fixed on the fixed platform 3 .

[0060] When using this embodiment to measure multi-dimensional force, the force on the force platform 1 will map the force to each stiffness-adjustable force-measuring branch 2, and read out each stiffness through the force sensor 6 on each ...

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Abstract

The invention discloses a force measuring branch with adjustable rigidity and a corresponding parallel multi-dimensional force sensor, comprising a decoupling mechanism used for decoupling stress, a rigidity adjusting mechanism assembled at the bottom end of the decoupling mechanism of the force measuring branch and used for adjusting the rigidity of the branch, a force sensor assembled at the bottom end of the rigidity adjusting mechanism, and a length compensation mechanism assembled at the bottom end of the force sensor and used for compensating the length of the branch. The rigidity-adjustable parallel multi-dimensional force sensor comprises a stress platform, a fixed platform and at least one group of rigidity-adjustable force measuring branches which are arranged in parallel, the top end of the decoupling mechanism is fixedly arranged on the stress platform, and the bottom end of the length compensation mechanism is fixedly arranged on the fixed platform. The rigidity of the force measurement branches can be changed and adjusted, and the force measurement branches are uniformly stressed. The method is suitable for being used in parallel multi-dimensional force measurement, and is particularly suitable for being used in six-dimensional force measurement of robot wrist force.

Description

technical field [0001] The invention belongs to the technical field of force sensors, and relates to a force-measuring branch with adjustable stiffness, in particular to a force-measuring branch with adjustable stiffness and a corresponding parallel multi-dimensional force sensor. Background technique [0002] A sensor is a device or measuring device that converts the measured value into another parameter according to a certain rule. Sensors are the main way to obtain the information needed in the natural world and in the field of production. The force sensor used to measure the force value in production practice is the most basic kind of sensor. The six-dimensional force sensor is especially suitable for the measurement of robot wrist force because it can measure the magnitude and direction of the six-dimensional force in space. [0003] Although there are sensors for measuring six-dimensional force in the prior art, most of them have force-measuring branches that can onl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/16
CPCG01L5/16Y02T90/00
Inventor 牛智张丙言张浩周京博杜仁杰纪运广李洪涛
Owner HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY
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